Program Listing for File controller_stopper.hpp
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// Copyright 2019, FZI Forschungszentrum Informatik, Created on behalf of Universal Robots A/S
//
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// * Redistributions in binary form must reproduce the above copyright
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//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef UR_ROBOT_DRIVER__CONTROLLER_STOPPER_HPP_
#define UR_ROBOT_DRIVER__CONTROLLER_STOPPER_HPP_
#include <memory>
#include <string>
#include <vector>
#include "rclcpp/rclcpp.hpp"
#include "controller_manager_msgs/srv/list_controllers.hpp"
#include "controller_manager_msgs/srv/switch_controller.hpp"
#include "std_msgs/msg/bool.hpp"
class ControllerStopper
{
public:
ControllerStopper() = delete;
ControllerStopper(const rclcpp::Node::SharedPtr& node, bool stop_controllers_on_startup);
virtual ~ControllerStopper() = default;
private:
void robotRunningCallback(const std_msgs::msg::Bool::ConstSharedPtr msg);
void findAndStopControllers();
void startControllers();
std::shared_ptr<rclcpp::Node> node_;
rclcpp::Client<controller_manager_msgs::srv::SwitchController>::SharedPtr controller_manager_srv_;
rclcpp::Client<controller_manager_msgs::srv::ListControllers>::SharedPtr controller_list_srv_;
rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr robot_running_sub_;
std::vector<std::string> consistent_controllers_;
std::vector<std::string> stopped_controllers_;
bool stop_controllers_on_startup_;
bool robot_running_;
};
#endif // UR_ROBOT_DRIVER__CONTROLLER_STOPPER_HPP_